/PROG  PNS0081
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "P0203034";
PROG_SIZE	= 1893;
CREATE		= DATE 21-03-22  TIME 09:13:12;
MODIFIED	= DATE 21-03-22  TIME 09:13:12;
FILE_NAME	= PNS0071;
VERSION		= 0;
LINE_COUNT	= 65;
MEMORY_SIZE	= 2409;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:  !******************************** ;
   2:  !     COSMA METAL FORMING  ;
   3:  !******************************** ;
   4:  !  LINE: CHINA CHANGSHA ;
   5:  !  ROBOT: RL1 ;
   6:  !  PROGRAM: PNS0051 ;
   7:  !  PART:53301125 ;
   8:  !ZYL15-7-16********************** ;
   9:   ;
  10:  !INITIALIZE ;
  11:  MOVE TO HOME    ;
  12:  DO[38]=OFF ;
  13:  R[14]=90    ;
  14:  R[18]=1    ;
  15:  R[19]=.1    ;
  16:  R[35]=TIMER[4]    ;
  17:  !------------------------------- ;
  18:  !BEGINNING OF PROGRAM ;
  19:  CALL PARTDROP    ;
  20:  COL GUARD ADJUST R[14] ;
  21:  UTOOL_NUM=1 ;
  22:  UFRAME_NUM=0 ;
  23:  PAYLOAD[1] ;
  24:  CALL ARM_CHECK    ;
  25:  !INITIATE TO PICK-POUNCE ;
  26:J P[1:MIDDLE] 50% CNT100 ACC100    ;
  27:J P[2:PICK POUNCE] 50% CNT100 ACC100 BREAK    ;
  28:  PR[6]=PR[8]    ;
  29:  R[1]=0    ;
  30:  TIMER[1]=RESET ;
  31:   ;
  32:  LBL[10:TOP OF LOOF] ;
  33:  OVERRIDE=R[5] ;
  34:   ;
  35:  !PROCEED TO PICK ;
  36:  LBL[20] ;
  37:  IF DI[1]=ON AND DI[2]=ON,JMP LBL[30] ;
  38:  IF DI[29]=ON,JMP LBL[90] ;
  39:  JMP LBL[20] ;
  40:  LBL[30:GOTO DROP POUNCE] ;
  41:  OVERRIDE=R[5] ;
  42:J P[8:DROP POUNCE] 30% CNT100    ;
  43:J PR[8] 20% CNT100 TB    .10sec,DO[37]=PULSE,5.0sec    ;
  44:  WAIT   3.00(sec) ;
  45:  LBL[50:MOVE DROP SNEAK] ;
  46:  OVERRIDE=R[5] ;
  47:J PR[6] 20% CNT100 TA    .10sec,DO[38]=ON    ;
  48:  WAIT DI[38]=ON+ OR DI[29]=ON    ;
  49:  DO[38]=OFF ;
  50:  PR[6,3]=PR[6,3]-R[40]    ;
  51:  R[44]=PR[6,3]    ;
  52:  IF R[44]<=(-1530),JMP LBL[90] ;
  53:   ;
  54:   ;
  55:  IF DI[29]=ON,JMP LBL[90] ;
  56:  IF DI[2]=ON,JMP LBL[50] ;
  57:   ;
  58:  LBL[90:END OF CYCLE] ;
  59:  TIMER[1]=STOP ;
  60:J P[8:DROP POUNCE] 40% CNT100    ;
  61:J P[2:PICK POUNCE] 50% CNT100    ;
  62:  MOVE TO HOME    ;
  63:  DO[38]=OFF ;
  64:  R[38]=0    ;
  65:  LBL[100:END OF PROGRAM] ;
/POS
P[1:"MIDDLE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2659.957  mm,	Y =  -743.334  mm,	Z =  -927.922  mm,
	W =  -179.311 deg,	P =      .574 deg,	R =   -89.997 deg
};
P[2:"PICK POUNCE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2657.790  mm,	Y =  -743.500  mm,	Z =  -936.231  mm,
	W =  -179.311 deg,	P =      .573 deg,	R =   -90.000 deg
};
P[8:"DROP POUNCE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2487.000  mm,	Y = -1405.000  mm,	Z =  -992.972  mm,
	W =  -179.305 deg,	P =      .575 deg,	R =   -89.997 deg
};
/END
